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<div class="title">octree_pointcloud.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_POINTCLOUD_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OCTREE_POINTCLOUD_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_base.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <span class="keyword">typename</span> LeafContainerT = OctreeContainerPointIndices,</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typename</span> BranchContainerT = OctreeContainerEmpty,</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typename</span> OctreeT = OctreeBase&lt;LeafContainerT, BranchContainerT&gt; &gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html">   73</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="comment">// iterators are friends</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_iterator_base.html">OctreeIteratorBase</a>&lt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>&gt; ;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>&gt; ;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>&gt; ;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>&gt; ;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">Base</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> OctreeT::LeafNode LeafNode;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> OctreeT::BranchNode BranchNode;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="comment">// Octree default iterators</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">ConstIterator</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="comment">// Octree leaf node iterators</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">ConstLeafNodeIterator</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="comment">// Octree depth-first iterators</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">ConstDepthFirstIterator</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="comment">// Octree breadth-first iterators</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">ConstBreadthFirstIterator</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">OctreePointCloud</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> resolution_arg);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab8478220f036bebf326d52d0aa9812b7">~OctreePointCloud</a> ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="comment">// public typedefs</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; IndicesPtr;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const std::vector&lt;int&gt; &gt; IndicesConstPtr;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="comment">// public typedefs for single/double buffering</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeBase&lt;LeafContainerT&gt;</a> &gt; <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">SingleBuffer</a>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;       <span class="comment">// typedef OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, Octree2BufBase&lt;LeafContainerT&gt; &gt; DoubleBuffer;</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="comment">// Boost shared pointers</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT, OctreeT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="comment">// Eigen aligned allocator</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keyword">typedef</span> std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt; AlignedPointTVector;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keyword">typedef</span> std::vector&lt;PointXYZ, Eigen::aligned_allocator&lt;PointXYZ&gt; &gt; AlignedPointXYZVector;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">  136</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud_arg,</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            <span class="keyword">const</span> IndicesConstPtr &amp;indices_arg = IndicesConstPtr ())</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a> = cloud_arg;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">indices_</a> = indices_arg;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad2d8677cb9862db3dbb3469dea11448a">  146</a></span>&#160;        <span class="keyword">inline</span> IndicesConstPtr <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad2d8677cb9862db3dbb3469dea11448a">getIndices</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">indices_</a>);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a3755f9b861d4087c1b1bc1ab1bca1115">  154</a></span>&#160;        <span class="keyword">inline</span> PointCloudConstPtr <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a3755f9b861d4087c1b1bc1ab1bca1115">getInputCloud</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6ed1b43b1e139f916c4908ee4407a9a0">  162</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6ed1b43b1e139f916c4908ee4407a9a0">setEpsilon</a> (<span class="keywordtype">double</span> eps)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa9abbf2b0fedf04240be251def82a5b4">epsilon_</a> = eps;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a79537fd6e4e322a6cb3828aef64ab692">  168</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a79537fd6e4e322a6cb3828aef64ab692">getEpsilon</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa9abbf2b0fedf04240be251def82a5b4">epsilon_</a>);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a95a51d4834c204e02fd12b48d0c37a6f">  176</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a95a51d4834c204e02fd12b48d0c37a6f">setResolution</a> (<span class="keywordtype">double</span> resolution_arg)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="comment">// octree needs to be empty to change its resolution</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          assert( this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a> == 0);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> = resolution_arg;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">getKeyBitSize</a> ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aaeb6c759054a883ef7e709591d0be3e3">  189</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aaeb6c759054a883ef7e709591d0be3e3">getResolution</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ae99e636dcd717b62e78a4a12ba9f183f">  197</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ae99e636dcd717b62e78a4a12ba9f183f">getTreeDepth</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordflow">return</span> this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">addPointsFromInputCloud</a> ();</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">addPointFromCloud</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> point_idx_arg, IndicesPtr indices_arg);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">addPointToCloud</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg, PointCloudPtr cloud_arg);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">addPointToCloud</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">isVoxelOccupiedAtPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2661ae14c070f3abca50c759d7c0c465">  237</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2661ae14c070f3abca50c759d7c0c465">deleteTree</a> ()</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          <span class="comment">// reset bounding box</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          min_x_ = min_y_ = max_y_ = min_z_ = max_z_ = 0;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">OctreeT::deleteTree</a> ();</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">isVoxelOccupiedAtPoint</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> point_x_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> point_y_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> point_z_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">isVoxelOccupiedAtPoint</a> (<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; point_idx_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">getOccupiedVoxelCenters</a> (AlignedPointTVector &amp;voxel_center_list_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac2fe606c6ea7b413949b96e4ba4b22d7">getApproxIntersectedVoxelCentersBySegment</a> (</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;            <span class="keyword">const</span> Eigen::Vector3f&amp; origin, <span class="keyword">const</span> Eigen::Vector3f&amp; end,</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            AlignedPointTVector &amp;voxel_center_list, <span class="keywordtype">float</span> precision = 0.2);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">deleteVoxelAtPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">deleteVoxelAtPoint</a> (<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; point_idx_arg);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        <span class="comment">// Bounding box methods</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">defineBoundingBox</a> ();</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">defineBoundingBox</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> min_x_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> min_y_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> min_z_arg,</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;                           <span class="keyword">const</span> <span class="keywordtype">double</span> max_x_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> max_y_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> max_z_arg);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">defineBoundingBox</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> max_x_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> max_y_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> max_z_arg);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">defineBoundingBox</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> cubeLen_arg);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">getBoundingBox</a> (<span class="keywordtype">double</span>&amp; min_x_arg, <span class="keywordtype">double</span>&amp; min_y_arg, <span class="keywordtype">double</span>&amp; min_z_arg,</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;                        <span class="keywordtype">double</span>&amp; max_x_arg, <span class="keywordtype">double</span>&amp; max_y_arg, <span class="keywordtype">double</span>&amp; max_z_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <span class="keywordtype">double</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">getVoxelSquaredDiameter</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00359"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">  359</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">getVoxelSquaredDiameter</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">getVoxelSquaredDiameter</a> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <span class="keywordtype">double</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">getVoxelSquaredSideLen</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">  374</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">getVoxelSquaredSideLen</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">getVoxelSquaredSideLen</a> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>);</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        }</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00385"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad15791e2de5823745260f812b4c65e06">  385</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad15791e2de5823745260f812b4c65e06">getVoxelBounds</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_iterator_base.html">OctreeIteratorBase&lt;OctreeT&gt;</a>&amp; iterator, Eigen::Vector3f &amp;min_pt, Eigen::Vector3f &amp;max_pt)<span class="keyword"> const</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;          this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">genVoxelBoundsFromOctreeKey</a> (iterator.<a class="code" href="classpcl_1_1octree_1_1_octree_iterator_base.html#a2c8a14332aaa89bfeb2125d8422b2c4d">getCurrentOctreeKey</a> (),</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;              iterator.<a class="code" href="classpcl_1_1octree_1_1_octree_iterator_base.html#ae5370f97f228434d2386c7d10ea59385">getCurrentOctreeDepth</a> (), min_pt, max_pt);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        }</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00396"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a094e94679a5251f9da9b58169e51958e">  396</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a094e94679a5251f9da9b58169e51958e">enableDynamicDepth</a> ( <span class="keywordtype">size_t</span> maxObjsPerLeaf )</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        {</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;          assert(this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>==0);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">max_objs_per_leaf_</a> = maxObjsPerLeaf;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;          this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">bool</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">max_objs_per_leaf_</a>&gt;0);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">addPointIdx</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> point_idx_arg);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">expandLeafNode</a> (LeafNode* leaf_node, BranchNode* parent_branch, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">getPointByIndex</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        LeafContainerT*</div>
<div class="line"><a name="l00434"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a239ceacc6b608865fe053f26a1d5d6b6">  434</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a239ceacc6b608865fe053f26a1d5d6b6">findLeafAtPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;          <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;          this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (point_arg, key);</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;          <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (key));</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        }</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        <span class="comment">// Protected octree methods based on octree keys</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">getKeyBitSize</a> ();</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">adoptBoundingBoxToPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_idx_arg);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0f377d439e78370a536d0fffd7c6a2a2">  462</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0f377d439e78370a536d0fffd7c6a2a2">isPointWithinBoundingBox</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_idx_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;          <span class="keywordflow">return</span> (! ( (point_idx_arg.x &lt; min_x_) || (point_idx_arg.y &lt; min_y_)</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;                   || (point_idx_arg.z &lt; min_z_) || (point_idx_arg.x &gt;= max_x_)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                   || (point_idx_arg.y &gt;= max_y_) || (point_idx_arg.z &gt;= max_z_)));</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        }</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp; point_arg,</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> point_x_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> point_y_arg, <span class="keyword">const</span> <span class="keywordtype">double</span> point_z_arg,</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;                              <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">genOctreeKeyForDataT</a> (<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; data_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">genLeafNodeCenterFromOctreeKey</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg,</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">genVoxelCenterFromOctreeKey</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg,</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth_arg, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">genVoxelBoundsFromOctreeKey</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg,</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth_arg, Eigen::Vector3f &amp;min_pt,</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;            Eigen::Vector3f &amp;max_pt) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">getOccupiedVoxelCentersRecursive</a> (<span class="keyword">const</span> BranchNode* node_arg,</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;            AlignedPointTVector &amp;voxel_center_list_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        <span class="comment">// Globals</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00539"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">  539</a></span>&#160;        PointCloudConstPtr <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">  542</a></span>&#160;        IndicesConstPtr <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">indices_</a>;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa9abbf2b0fedf04240be251def82a5b4">  545</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa9abbf2b0fedf04240be251def82a5b4">epsilon_</a>;</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160; </div>
<div class="line"><a name="l00548"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">  548</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        <span class="comment">// Octree bounding box coordinates</span></div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;        <span class="keywordtype">double</span> min_x_;</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        <span class="keywordtype">double</span> max_x_;</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160; </div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keywordtype">double</span> min_y_;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        <span class="keywordtype">double</span> max_y_;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        <span class="keywordtype">double</span> min_z_;</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        <span class="keywordtype">double</span> max_z_;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160; </div>
<div class="line"><a name="l00561"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">  561</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a>;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00566"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">  566</a></span>&#160;        std::size_t <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">max_objs_per_leaf_</a>;</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    };</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160; </div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  }</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;}</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160; </div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/impl/octree_pointcloud.hpp&gt;</span></div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160; </div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2727267eed42ae776bbd8ea84b91187d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::octree_depth_</a></div><div class="ttdeci">unsigned int octree_depth_</div><div class="ttdoc">Octree depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:585</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2a74d829fa6bc41a9823e42b9bbb5e59"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::leaf_count_</a></div><div class="ttdeci">std::size_t leaf_count_</div><div class="ttdoc">Amount of leaf nodes</div><div class="ttdef"><b>Definition:</b> octree_base.h:573</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a6044a82930ab95b427828ff022e7d1e3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::dynamic_depth_enabled_</a></div><div class="ttdeci">bool dynamic_depth_enabled_</div><div class="ttdoc">Enable dynamic_depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:588</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a8cb31ab9a56944b96eef0ace8dedacbe"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::findLeaf</a></div><div class="ttdeci">OctreeContainerPointIndices * findLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:108</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a9abc561a4c6672aba260f688c8250682"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::deleteTree</a></div><div class="ttdeci">void deleteTree()</div><div class="ttdoc">Delete the octree structure and its leaf nodes.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:164</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_breadth_first_iterator_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">pcl::octree::OctreeBreadthFirstIterator</a></div><div class="ttdoc">Octree iterator class</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:453</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_depth_first_iterator_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">pcl::octree::OctreeDepthFirstIterator</a></div><div class="ttdoc">Octree iterator class</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:367</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_iterator_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_iterator_base.html">pcl::octree::OctreeIteratorBase</a></div><div class="ttdoc">Abstract octree iterator class</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_iterator_base_html_a2c8a14332aaa89bfeb2125d8422b2c4d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_iterator_base.html#a2c8a14332aaa89bfeb2125d8422b2c4d">pcl::octree::OctreeIteratorBase::getCurrentOctreeKey</a></div><div class="ttdeci">const OctreeKey &amp; getCurrentOctreeKey() const</div><div class="ttdoc">Get octree key for the current iterator octree node</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_iterator_base_html_ae5370f97f228434d2386c7d10ea59385"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_iterator_base.html#ae5370f97f228434d2386c7d10ea59385">pcl::octree::OctreeIteratorBase::getCurrentOctreeDepth</a></div><div class="ttdeci">unsigned int getCurrentOctreeDepth() const</div><div class="ttdoc">Get the current depth level of octree</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_iterator_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">pcl::octree::OctreeLeafNodeIterator</a></div><div class="ttdoc">Octree leaf node iterator class</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:535</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a></div><div class="ttdoc">Octree pointcloud class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a040db2cc8b3dcf73cdb4bea4fd37d53a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">pcl::octree::OctreePointCloud::getVoxelSquaredDiameter</a></div><div class="ttdeci">double getVoxelSquaredDiameter() const</div><div class="ttdoc">Calculates the squared diameter of a voxel at leaf depth</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:359</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a0504486d59659d8fe44257c2e46e159c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">pcl::octree::OctreePointCloud::expandLeafNode</a></div><div class="ttdeci">void expandLeafNode(LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:507</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a094e94679a5251f9da9b58169e51958e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a094e94679a5251f9da9b58169e51958e">pcl::octree::OctreePointCloud::enableDynamicDepth</a></div><div class="ttdeci">void enableDynamicDepth(size_t maxObjsPerLeaf)</div><div class="ttdoc">Enable dynamic octree structure</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:396</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a0f377d439e78370a536d0fffd7c6a2a2"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0f377d439e78370a536d0fffd7c6a2a2">pcl::octree::OctreePointCloud::isPointWithinBoundingBox</a></div><div class="ttdeci">bool isPointWithinBoundingBox(const PointT &amp;point_idx_arg) const</div><div class="ttdoc">Checks if given point is within the bounding box of the octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:462</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a0fd10260bace75f9c753ef42f74f9027"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">pcl::octree::OctreePointCloud::adoptBoundingBoxToPoint</a></div><div class="ttdeci">void adoptBoundingBoxToPoint(const PointT &amp;point_idx_arg)</div><div class="ttdoc">Grow the bounding box/octree until point fits</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:417</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a239ceacc6b608865fe053f26a1d5d6b6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a239ceacc6b608865fe053f26a1d5d6b6">pcl::octree::OctreePointCloud::findLeafAtPoint</a></div><div class="ttdeci">LeafContainerT * findLeafAtPoint(const PointT &amp;point_arg) const</div><div class="ttdoc">Find octree leaf node at a given point</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:434</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a2661ae14c070f3abca50c759d7c0c465"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2661ae14c070f3abca50c759d7c0c465">pcl::octree::OctreePointCloud::deleteTree</a></div><div class="ttdeci">void deleteTree()</div><div class="ttdoc">Delete the octree structure and its leaf nodes.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:237</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a2a773a82c7c07e654e80bdca09f2fb9c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">pcl::octree::OctreePointCloud::max_objs_per_leaf_</a></div><div class="ttdeci">std::size_t max_objs_per_leaf_</div><div class="ttdoc">Amount of DataT objects per leafNode before expanding branch</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:566</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a2edc37d578faf79346d3fa74b18de194"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">pcl::octree::OctreePointCloud::deleteVoxelAtPoint</a></div><div class="ttdeci">void deleteVoxelAtPoint(const PointT &amp;point_arg)</div><div class="ttdoc">Delete leaf node / voxel at given point</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:167</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a30c6002f19ebee3e5af733499254e2e3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">pcl::octree::OctreePointCloud::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">Pointer to input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:539</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a31091b92e65251fcb6c19b5f99215151"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">pcl::octree::OctreePointCloud::getOccupiedVoxelCentersRecursive</a></div><div class="ttdeci">int getOccupiedVoxelCentersRecursive(const BranchNode *node_arg, const OctreeKey &amp;key_arg, AlignedPointTVector &amp;voxel_center_list_arg) const</div><div class="ttdoc">Recursively search the tree for all leaf nodes and return a vector of voxel centers.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:790</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a342788d493c7a2520009179a0e321d7b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">pcl::octree::OctreePointCloud::genLeafNodeCenterFromOctreeKey</a></div><div class="ttdeci">void genLeafNodeCenterFromOctreeKey(const OctreeKey &amp;key_arg, PointT &amp;point_arg) const</div><div class="ttdoc">Generate a point at center of leaf node voxel</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:723</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a3755f9b861d4087c1b1bc1ab1bca1115"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a3755f9b861d4087c1b1bc1ab1bca1115">pcl::octree::OctreePointCloud::getInputCloud</a></div><div class="ttdeci">PointCloudConstPtr getInputCloud() const</div><div class="ttdoc">Get a pointer to the input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a4ebc0e3994827277f01fe12cb4fe8c2a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">pcl::octree::OctreePointCloud::OctreePointCloud</a></div><div class="ttdeci">OctreePointCloud(const double resolution_arg)</div><div class="ttdoc">Octree pointcloud constructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a4fe0eb5fad27c0b3a615f9f6d372a82b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">pcl::octree::OctreePointCloud::indices_</a></div><div class="ttdeci">IndicesConstPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:542</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a53d42efe80b3083dc5b703ea9dd7c9af"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">pcl::octree::OctreePointCloud::addPointToCloud</a></div><div class="ttdeci">void addPointToCloud(const PointT &amp;point_arg, PointCloudPtr cloud_arg)</div><div class="ttdoc">Add point simultaneously to octree and input point cloud.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:106</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a6bea8ca3b8fe7b5c28bce6ca0d636789"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">pcl::octree::OctreePointCloud::genVoxelCenterFromOctreeKey</a></div><div class="ttdeci">void genVoxelCenterFromOctreeKey(const OctreeKey &amp;key_arg, unsigned int tree_depth_arg, PointT &amp;point_arg) const</div><div class="ttdoc">Generate a point at center of octree voxel at given tree level</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:733</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a6ed1b43b1e139f916c4908ee4407a9a0"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6ed1b43b1e139f916c4908ee4407a9a0">pcl::octree::OctreePointCloud::setEpsilon</a></div><div class="ttdeci">void setEpsilon(double eps)</div><div class="ttdoc">Set the search epsilon precision (error bound) for nearest neighbors searches.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a71a8a024259c75f6365f262308af7d57"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">pcl::octree::OctreePointCloud::bounding_box_defined_</a></div><div class="ttdeci">bool bounding_box_defined_</div><div class="ttdoc">Flag indicating if octree has defined bounding box.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:561</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a79537fd6e4e322a6cb3828aef64ab692"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a79537fd6e4e322a6cb3828aef64ab692">pcl::octree::OctreePointCloud::getEpsilon</a></div><div class="ttdeci">double getEpsilon() const</div><div class="ttdoc">Get the search epsilon precision (error bound) for nearest neighbors searches.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a7bc46426ce1b55cfd0a32063ada08613"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">pcl::octree::OctreePointCloud::defineBoundingBox</a></div><div class="ttdeci">void defineBoundingBox()</div><div class="ttdoc">Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:265</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a87cad20428de876fcf789e674a39f503"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">pcl::octree::OctreePointCloud::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud_arg, const IndicesConstPtr &amp;indices_arg=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input data set.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a8a1dcd695db20c10dd2ca049b3e6851e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">pcl::octree::OctreePointCloud::addPointIdx</a></div><div class="ttdeci">virtual void addPointIdx(const int point_idx_arg)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:556</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a8e56f5f63f8e230d71a4716f8c420ebf"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">pcl::octree::OctreePointCloud::getVoxelSquaredSideLen</a></div><div class="ttdeci">double getVoxelSquaredSideLen() const</div><div class="ttdoc">Calculates the squared voxel cube side length at leaf level</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:374</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a95a51d4834c204e02fd12b48d0c37a6f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a95a51d4834c204e02fd12b48d0c37a6f">pcl::octree::OctreePointCloud::setResolution</a></div><div class="ttdeci">void setResolution(double resolution_arg)</div><div class="ttdoc">Set/change the octree voxel resolution</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a9a2aff164921146fd82c192d73e2f155"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">pcl::octree::OctreePointCloud::isVoxelOccupiedAtPoint</a></div><div class="ttdeci">bool isVoxelOccupiedAtPoint(const PointT &amp;point_arg) const</div><div class="ttdoc">Check if voxel at given point exist.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:130</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_aa78eb05816a966b24bc939a6cfc625d3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">pcl::octree::OctreePointCloud::getPointByIndex</a></div><div class="ttdeci">const PointT &amp; getPointByIndex(const unsigned int index_arg) const</div><div class="ttdoc">Get point at index from input pointcloud dataset</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:600</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_aa9abbf2b0fedf04240be251def82a5b4"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa9abbf2b0fedf04240be251def82a5b4">pcl::octree::OctreePointCloud::epsilon_</a></div><div class="ttdeci">double epsilon_</div><div class="ttdoc">Epsilon precision (error bound) for nearest neighbors searches.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:545</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_aaeb6c759054a883ef7e709591d0be3e3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aaeb6c759054a883ef7e709591d0be3e3">pcl::octree::OctreePointCloud::getResolution</a></div><div class="ttdeci">double getResolution() const</div><div class="ttdoc">Get octree voxel resolution</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ab8478220f036bebf326d52d0aa9812b7"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab8478220f036bebf326d52d0aa9812b7">pcl::octree::OctreePointCloud::~OctreePointCloud</a></div><div class="ttdeci">virtual ~OctreePointCloud()</div><div class="ttdoc">Empty deconstructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:59</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_abb3e4301c89ea5011a1a1167800a57b3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">pcl::octree::OctreePointCloud::getOccupiedVoxelCenters</a></div><div class="ttdeci">int getOccupiedVoxelCenters(AlignedPointTVector &amp;voxel_center_list_arg) const</div><div class="ttdoc">Get a PointT vector of centers of all occupied voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:190</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac2fe606c6ea7b413949b96e4ba4b22d7"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac2fe606c6ea7b413949b96e4ba4b22d7">pcl::octree::OctreePointCloud::getApproxIntersectedVoxelCentersBySegment</a></div><div class="ttdeci">int getApproxIntersectedVoxelCentersBySegment(const Eigen::Vector3f &amp;origin, const Eigen::Vector3f &amp;end, AlignedPointTVector &amp;voxel_center_list, float precision=0.2)</div><div class="ttdoc">Get a PointT vector of centers of voxels intersected by a line segment. This returns a approximation ...</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:204</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac477d9477e781d980709b1e8886d2c7c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">pcl::octree::OctreePointCloud::addPointsFromInputCloud</a></div><div class="ttdeci">void addPointsFromInputCloud()</div><div class="ttdoc">Add points from input point cloud to octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac63353c886559f6f801acb39147978a6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">pcl::octree::OctreePointCloud::genVoxelBoundsFromOctreeKey</a></div><div class="ttdeci">void genVoxelBoundsFromOctreeKey(const OctreeKey &amp;key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &amp;min_pt, Eigen::Vector3f &amp;max_pt) const</div><div class="ttdoc">Generate bounds of an octree voxel using octree key and tree depth arguments</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:746</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac740d5e678cca7d165771f0c9e480050"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">pcl::octree::OctreePointCloud::addPointFromCloud</a></div><div class="ttdeci">void addPointFromCloud(const int point_idx_arg, IndicesPtr indices_arg)</div><div class="ttdoc">Add point at given index from input point cloud to octree. Index will be also added to indices vector...</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ad15791e2de5823745260f812b4c65e06"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad15791e2de5823745260f812b4c65e06">pcl::octree::OctreePointCloud::getVoxelBounds</a></div><div class="ttdeci">void getVoxelBounds(const OctreeIteratorBase&lt; OctreeT &gt; &amp;iterator, Eigen::Vector3f &amp;min_pt, Eigen::Vector3f &amp;max_pt) const</div><div class="ttdoc">Generate bounds of the current voxel of an octree iterator</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:385</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ad2d8677cb9862db3dbb3469dea11448a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad2d8677cb9862db3dbb3469dea11448a">pcl::octree::OctreePointCloud::getIndices</a></div><div class="ttdeci">IndicesConstPtr const getIndices() const</div><div class="ttdoc">Get a pointer to the vector of indices used.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ad34b5c6655fdcf9ed4da21ac8a973e5f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">pcl::octree::OctreePointCloud::genOctreeKeyforPoint</a></div><div class="ttdeci">void genOctreeKeyforPoint(const PointT &amp;point_arg, OctreeKey &amp;key_arg) const</div><div class="ttdoc">Generate octree key for voxel at a given point</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:680</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ada3e26017a2b5298846bcdd989feea98"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">pcl::octree::OctreePointCloud::resolution_</a></div><div class="ttdeci">double resolution_</div><div class="ttdoc">Octree resolution.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:548</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_adc10f5df5244d371c4136f09b37cd685"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">pcl::octree::OctreePointCloud::getBoundingBox</a></div><div class="ttdeci">void getBoundingBox(double &amp;min_x_arg, double &amp;min_y_arg, double &amp;min_z_arg, double &amp;max_x_arg, double &amp;max_y_arg, double &amp;max_z_arg) const</div><div class="ttdoc">Get bounding box for octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:400</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ae99e636dcd717b62e78a4a12ba9f183f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ae99e636dcd717b62e78a4a12ba9f183f">pcl::octree::OctreePointCloud::getTreeDepth</a></div><div class="ttdeci">unsigned int getTreeDepth() const</div><div class="ttdoc">Get the maximum depth of the octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_af0cbfcff86b8b2d544d98ffa4648d790"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">pcl::octree::OctreePointCloud::getKeyBitSize</a></div><div class="ttdeci">void getKeyBitSize()</div><div class="ttdoc">Define octree key setting and octree depth based on defined bounding box.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:609</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_afdabd2a68b1a3b73580e84269f155fad"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">pcl::octree::OctreePointCloud::genOctreeKeyForDataT</a></div><div class="ttdeci">virtual bool genOctreeKeyForDataT(const int &amp;data_arg, OctreeKey &amp;key_arg) const</div><div class="ttdoc">Virtual method for generating octree key for a given point index.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:711</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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